A roadmap-based algorithm for planning object handling in changing industrial plants

摘要

This article addresses the problem of planning collision-free motions for a fleet of mobile robots moving in a cluttered and changing workspace. The authors focus on the problem of planning handling operations in an industrial plant: find a collision-free trajectory for a set of mobile robots for handling a group of movable objects in a cluttered industrial plant. The motion planner described copes with constraints due to changing of the workspace by decomposing the planning problem into two stages: (1) building a single roadmap by preprocessing the C-space of the moving systems, and (2) planning coordinated collision-free paths for these systems, including manipulation of the roadmap to guarantee incorporation of workspace change. The planner is implemented and demonstrated on 2D models of industrial plants.